An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning

Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merge both bi-directional search and asymptotic optimality into existing optimal planners, such as PRM*, RRT*, and FMT*. The objective of this paper is to fill this gap. Specifically, this paper presents a bi-directional, sampling-based, asymptotically-optimal algorithm named Bi-directional FMT* (BFMT*) that extends the Fast Marching Tree (FMT*) algorithm to bi-directional search while preserving its key properties, chiefly lazy search and asymptotic optimality through convergence in probability. BFMT* performs a two-source, lazy dynamic programming recursion over a set of randomly-drawn samples, correspondingly generating two search trees: one in cost-to-come space from the initial configuration and another in cost-to-go space from the goal configuration. Numerical experiments illustrate the advantages of BFMT* over its unidirectional counterpart, as well as a number of other state-of-the-art planners.Comment: Accepted to the 2015 IEEE Intelligent Robotics and Systems Conference in Hamburg, Germany. This submission represents the long version of the conference manuscript, with additional proof details (Section IV) regarding the asymptotic optimality of the BFMT* algorith

Evolutionary optimization algorithms for sunlight-based positioning sensor networks

The sunlight intensity-based global positioning system (SGPS) is able to geolocate outdoor objects by means of the sunlight intensity detection. This paper presents the integration of SGPS into a sensor network in order to improve the overall accuracy using evolutionary algorithms. Another contribution of the paper is to theoretically solve both global and relative positioning of the sensors composing the network within the same framework without satellite-based GPS technology. Results show that this approach is promising and has potential to be improved further

The Signs of Life Detector (SOLID): An Instrument to Detect Molecular Biosignatures on Mars

The case for life on Mars grows stronger. Investigations at Gale Crater by Curiosity have revealed fine-grained sedimentary rocks inferred to represent an ancient lake environment suited to support life. In addition, Curiosity tentatively found a heterogeneous distribution of organic carbon within these sediments, consistent with the detection of native organic C in Mars meteorites. Furthermore, modern potentially habitable environments have been recognized on Mars including the N. Polar region visited by Phoenix, gully features suggesting modern water flows, and RSLs that occur seasonally suggest liquid processes. The time is ripe for missions to Mars incorporating a search for biochemical evidence of life

Formation and Collapse of Quiescent Cloud Cores Induced by Dynamic Compressions

(Abridged) We present numerical hydrodynamical simulations of the formation, evolution and gravitational collapse of isothermal molecular cloud cores. A compressive wave is set up in a constant sub-Jeans density distribution of radius r = 1 pc. As the wave travels through the simulation grid, a shock-bounded spherical shell is formed. The inner shock of this shell reaches and bounces off the center, leaving behind a central core with an initially almost uniform density distribution, surrounded by an envelope consisting of the material in the shock-bounded shell, with a power-law density profile that at late times approaches a logarithmic slope of -2 even in non-collapsing cases. The resulting density structure resembles a quiescent core of radius < 0.1 pc, with a Bonnor-Ebert-like (BE-like) profile, although it has significant dynamical differences: it is initially non-self-gravitating and confined by the ram pressure of the infalling material, and consequently, growing continuously in mass and size. With the appropriate parameters, the core mass eventually reaches an effective Jeans mass, at which time the core begins to collapse. Thus, there is necessarily a time delay between the appearance of the core and the onset of its collapse, but this is not due to the dissipation of its internal turbulence as it is often believed. These results suggest that pre-stellar cores may approximate Bonnor-Ebert structures which are however of variable mass and may or may not experience gravitational collapse, in qualitative agreement with the large observed frequency of cores with BE-like profiles.Comment: Accepted for publication in ApJ. Associated mpeg files can be found in http://www.astrosmo.unam.mx/~g.gomez/publica.htm

Prevalencia de diabesidad en España: depende de cómo se defina la obesidad

La obesidad representa la enfermedad metabólica más prevalente a nivel mundial, conllevando un aumento de la morbi-mortalidad y la consiguiente disminución en la esperanza de vida1. A pesar de la magnitud del problema y de la atención que recibe en las publicaciones científicas, la pandemia sigue creciendo de forma imparable. Según un estudio reciente llevado a cabo en 200 países, la prevalencia de la obesidad en el mundo se ha multiplicado por seis en los últimos 40 años4. La prevalencia de obesidad en Europa varía entre el 12 y el 26%5, rango dentro del cual se encuentran también las cifras en la población adulta española, entorno al 22%6. La obesidad se ha convertido en una de las principales causas de muerte, ya que constituye el principal factor de riesgo para una serie de enfermedades no transmisibles, en particular la diabetes tipo 2 (DT2)7,8. Esta estrecha relación llevó hace unos años a acuñar el término diabesidad, destacando el hecho de que la mayoría de las personas con DT2 tienen obesidad

Association of increased Visfatin/PBEF/NAMPT circulating concentrations and gene expression levels in peripheral blood cells with lipid metabolism and fatty liver in human morbid obesity

BACKGROUND AND AIMS: Nicotinamide phosphoribosyltransferase (NAMPT) is an adipokine with physiological effects on the control of glucose homeostasis as well as potentially involved in inflammation. The association of circulating NAMPT concentrations with obesity has not been clearly established. The aim of the present work was to evaluate the effect of obesity on circulating concentrations and gene expression levels of NAMPT in human peripheral blood cells (PBCs) as well as its involvement in inflammation, glucose and lipid metabolism. METHODS AND RESULTS: Forty-four serum samples obtained from 14 lean and 30 obese volunteers were used to analyse the circulating concentrations of NAMPT. In addition, PBC, omental adipose tissue (OM) and liver biopsy samples obtained from a subgroup of subjects were used to determine transcript levels of NAMPT by Real-time PCR. Glucose and lipid profile as well as several inflammatory factors and hepatic enzymes were analysed. NAMPT circulating concentrations (P<0.01) and gene expression levels in PBC (P<0.05) were significantly increased in obese patients as compared to lean subjects. Total-cholesterol (P=0.016), HDL-cholesterol (P=0.036) and triglycerides (P=0.050) were significant and independent determinants of circulating concentrations of NAMPT (P<0.01). Moreover, a positive correlation (P<0.01) was found with the hepatic enzymes alanine aminotransferase, aspartate aminotransferase, and gamma-glutamyltransferase after BMI adjustment. CONCLUSION: Our work shows that NAMPT circulating concentrations and mRNA expression levels in PBC are increased in obese patients and that plasma NAMPT levels are related to inflammation, lipid metabolism and hepatic enzymes suggesting a potential involvement in fatty liver disease and in the obesity-associated inflammatory stat

The obestatin receptor (GPR39) is expressed in human adipose tissue and is down-regulated in obesity-associated type 2 diabetes mellitus

The G protein-coupled receptor 39 (GPR39) has recently been identified as the receptor for obestatin, a peptidic hormone involved in energy homeostasis. However, the expression levels of this receptor in human adipose tissue in obesity and obesity-associated type 2 diabetes mellitus (T2DM) remain unknown. Therefore, we evaluated the actual presence of GPR39 mRNA in human adipose tissue and whether GPR39 expression levels are altered in obesity and obesity-associated T2DM. DESIGN: Omental adipose tissue biopsies obtained from 15 women were used in the study. Patients were classified as lean (body mass index 20.8 +/- 1.0 kg/m(2)), obese normoglycaemic (body mass index 48.4 +/- 2.1 kg/m(2)) and obese T2DM patients (body mass index 52.6 +/- 4.9 kg/m(2)). Anthropometric measurements and biochemical profiles were assessed for each subject. Real-time RT-PCR analyses were performed to quantify transcript levels of GPR39 and adiponectin. RESULTS: Obese T2DM patients exhibited significantly lower GPR39 expression levels compared to lean (P = 0.016) and obese normoglycaemic subjects (P = 0.008), while no differences between lean and obese normoglycaemic patients were observed. The mRNA expression levels of GPR39 were negatively correlated to fasting glucose concentrations (r = -0.581, P = 0.023), while exhibiting a positive correlation to adiponectin mRNA expression levels (r = 0.674, P = 0.006). CONCLUSION: GPR39 is expressed in human adipose tissue. The reduced expression levels of GPR39 in omental adipose tissue observed in obese patients with T2DM suggest an involvement of obestatin signalling in glucose homeostasis and T2DM development

Expression of caveolin-1 in human adipose tissue is upregulated in obesity and obesity-associated type 2 diabetes mellitus and related to inflammation

Caveolin-1 (CAV-1) plays important roles in many aspects of cellular biology, including vesicular transport, cholesterol homeostasis and signal transduction. The aim of the present study was to explore gene expression levels of CAV-1 in human adipose tissue in obesity and obesity-associated type 2 diabetes mellitus (T2DM) and to analyse its potential implication in the inflammatory state associated with obesity. DESIGN AND METHODS: Visceral adipose tissue (VAT) and subcutaneous adipose tissue (SAT) obtained from 15 females were used in the study. Patients were classified as lean (BMI 20.8 +/- 1.0 kg/m(2)) or obese (BMI 50.5 +/- 2.6 kg/m(2)). The obese group was further subclassified as normoglycaemic (NG) or patients with T2DM. Anthropometric measurements as well as circulating metabolites, hormones and adipokines were determined. Real-time polymerase chain reaction (PCR) analyses were performed to quantify transcript levels of CAV-1 and monocyte chemoattractant protein (MCP-1). RESULTS: The presence of CAV-1 protein was detected in VAT and SAT by immunohistochemistry. Both obese NG and with T2DM patients exhibited significantly higher CAV-1 expression levels in VAT and SAT compared with lean subjects (P < 0.05). No differences between obese NG and T2DM patients were observed in VAT. However, obese T2DM patients were found to have higher CAV-1 expression levels in SAT (P < 0.05) compared with obese NG patients. A significant correlation was found between CAV-1 mRNA expression levels in VAT and different circulating inflammatory markers such as sialic acid (SA) (P < 0.001) and fibrinogen (P < 0.001) as well as with MCP1 mRNA expression (P < 0.05). CONCLUSION: Our findings show for the first time the upregulation of mRNA CAV-1 expression levels in VAT and SAT of obese NG and obese T2DM patients compared with lean controls, suggesting a role for CAV-1 in obesity and T2DM development. The association with different inflammatory markers further suggests an implication of CAV-1 in the low-grade inflammation accompanying obesity

Adiponectin-leptin Ratio is a Functional Biomarker of Adipose Tissue Inflammation

Obesity favors the development of cardiometabolic alterations such as type 2 diabetes (T2D) and the metabolic syndrome (MS). Obesity and the MS are distinguished by an increase in circulating leptin concentrations, in parallel to a drop in the levels of adiponectin. Consequently, the Adpn/Lep ratio has been suggested as a maker of dysfunctional adipose tissue. We aimed to investigate in humans (n = 292) the reliability of the Adpn/Lep ratio as a biomarker of adipose tissue dysfunction. We considered that an Adpn/Lep ratio of ≥1.0 can be considered normal, a ratio of ≥0.5 <1.0 suggests moderate-medium increased risk, and a ratio of <0.5 indicates a severe increase in cardiometabolic risk. Using these cut-offs, 5%, 54% and 48% of the lean, normoglycemic and without-MS subjects, respectively, fall within the group with an Adpn/Lep ratio below 0.5; while 89%, 86% and 90% of the obese, with T2D and with MS patients fall within the same group (p < 0.001). A significant negative correlation (r = -0.21, p = 0.005) between the Adpn/Lep ratio and serum amyloid A (SAA) concentrations, a marker of adipose tissue dysfunction, was found. We concluded that the Adpn/Lep ratio is a good indicator of a dysfunctional adipose tissue that may be a useful estimator of obesity- and MS-associated cardiometabolic risk, allowing the identification of a higher number of subjects at risk